Drone platform having modularized driving units

Abstract

The present invention relates to a drone platform which enables modularized driving units for controlling motors to be directly installed on drone arms in various forms, can be easily attached to and detached from the main body of a drone, and thus can improve convenience in the management of a drone and significantly reduce purchase and management costs.

Description

Drivetrain modular drone platform

[0001] The present invention relates to a drone platform in which a driving unit for controlling a motor of a drone arm is modularized, and more specifically, to a drone platform in which a driving unit for controlling a motor is directly installed in various types of drone arms in a modularized state and can be easily mounted or detached from the main body of a drone, thereby improving the convenience of managing a drone while drastically reducing the cost of purchasing and managing it.

[0002]

[0003] In general, in situations where a drone with a tilt structure and a drone without a tilt structure are needed for the purpose of conducting drone testing or various tests using drones, there is a cost burden of having both types of drones.

[0004] Here, the cost burden can increase further because the types of drones are diverse, such as quadcopters, hexacopters, and octocopters, and although renting a drone may be a temporary solution to the problem, the scope of use in this case is bound to be limited.

[0005] Of course, it is possible to control a drone with a tilt structure applied to the drone arm in the same way as a drone without a tilt structure, but in this case, not only will the problem of having to re-set the control method every time it is switched arise, but also the complex problem of having to reflect the weight difference depending on the presence or absence of the tilt structure in the test results may arise.

[0006] In addition, the most effective method is to configure the drone arm to be detachable from the drone, as in the “Assembly-type drone having a detachable structure” of Korean Patent Publication No. 10-2085790, and to selectively mount a drone arm with a tilt structure and a drone arm without a tilt structure. However, even in this case, the problem of having to re-set the control method every time remains.

[0007] As a result, it can be said that, as in the above-mentioned prior invention, a technical problem requiring a solution is required to enable selective mounting of a drone arm with a tilt structure and a drone arm without a tilt structure, while allowing automatic switching of the control method in the drone.

[0008]

[0009] The present invention is an invention proposed for the purpose of solving the above-mentioned problem,

[0010] In situations where a drone with a tilt structure and a drone without a tilt structure are needed for the purpose of conducting drone tests or various tests using drones, there is a problem of incurring a cost burden for preparing both types of drones.

[0011] The purpose of this paper is to present a solution to the problem of requiring the settings for switching control methods to be changed each time, as several methods available for solving this problem have in common.

[0012]

[0013] The present invention aims to achieve the above-mentioned purpose,

[0014] A modularized drone platform is proposed, comprising: a plurality of linear drone arms having motors and rotors at both ends; a driving unit configured to receive control signals through the connection terminals and control the motors while being installed in a manner fitted into the center of the drone arms, the driving unit having a plurality of sockets corresponding to the plurality of connection terminals and a pair of grippers that secure the driving unit in a manner gripping the driving unit, the driving unit being installed in a manner corresponding to the structure of both end ends of the drone, the driving unit being provided in one direction; and a control unit that generates and transmits a control signal for the motors of the drone arms when recognition of the driving unit occurs while connected to the sockets.

[0015] At this time, the drone arm is configured to be divided into a first type in which a motor and a rotor are provided at each of the ends of both sides, a second type in which a motor and a rotor and a tilt device are provided at each of the ends of both sides, a third type in which a pair of motors and a pair of rotors are provided vertically at each of the ends of both sides, and a fourth type in which a pair of motors, a pair of rotors and a tilt device are provided at each of the ends of both sides, and any one of them is selectively mounted at each of the ends of the drone.

[0016]

[0017] The drive unit modular drone platform according to the present invention is

[0018] The driving unit for motor control is installed directly on various types of drone arms and is electrically and physically connected to the fasteners installed on the drone, and the control unit that recognizes the driving unit generates and transmits a control signal according to the type of drone arm, which has the effect of drastically reducing the cost of preparing and managing various types of drones.

[0019] In addition, since the present invention is configured to allow the drone arm to be easily mounted and detached from the drone, the convenience of management during the process of storing and transporting the drone is also improved.

[0020]

[0021] Figure 1 is an exemplary diagram showing a state in which a modularized drive unit drone platform according to the present invention is applied to a drone and is actually used.

[0022] Figure 2 is a perspective view of a driving unit constituting the present invention.

[0023] Figures 3a and 3b are one-side and the other-side perspective views of a fastening member constituting the present invention.

[0024] Figures 4a to 4d are exemplary diagrams showing various embodiments of the drone arm constituting the present invention.

[0025] Figures 5a and 5b are control algorithms of a control unit constituting the present invention.

[0026] Figure 6 is a cross-sectional view showing a state in which a tilt device is equipped on a drone arm.

[0027] Figure 7 is an exploded perspective view of the tilt device provided on the drone arm.

[0028]

[0029] The drive unit modular drone platform according to the present invention is

[0030] The invention is characterized by comprising: a plurality of linear drone arms having motors and rotors at both end portions; a driving unit configured to be fitted into the center of the drone arms and receive control signals through the connecting terminals to control the motors; a fastening unit installed in a manner corresponding to the structure of both end portions of the drone, the fastening unit having a plurality of sockets corresponding to the plurality of connecting terminals and a pair of grippers that secure the driving unit in a manner of gripping the sockets in one direction; and a control unit that generates and transmits a control signal for the motors of the drone arms when recognition of the driving unit occurs in a state of being connected to the sockets.

[0031]

[0032] The present invention relates to a drone platform in which a driving unit for controlling a motor of a drone arm (100) is modularized.

[0033] It is characterized by comprising: a plurality of linear drone arms (100) having motors (M) and rotors (R) at both end portions; a driving unit (110) configured in a form in which a plurality of connection terminals (111) are provided on one side of a cylindrical body, and which receives a control signal through the connection terminals (111) and controls the motors (M) in a state in which it is installed in a form fitted into the center of the drone arm (100); a fastening unit (120) installed in a form corresponding to the structure of both end portions of the drone (10) in a state in which a plurality of sockets (121) corresponding to the plurality of connection terminals (111) and a pair of grippers (122) that fix the driving unit (110) in a form in which they are gripped are provided in one direction; and a control unit (130) that generates and transmits a control signal for the motors (M) of the drone arm (100) when recognition of the driving unit (110) occurs in a state in which it is connected to the sockets (121).

[0034]

[0035] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0036] First, the drone arm (100) is a component for installing a motor (M) and a rotor (R) required for the flight of a drone (10) at a certain distance from the main body of the drone (10), and is characterized in that the motor (M) (including a transmission) and the rotor (R) are provided at both ends of the body configured in a straight line, as shown in FIG. 1.

[0037] That is, a typical arm installed on a drone (10) is configured such that one end is connected to the main body of the drone (10) and the other end is provided with a motor (M) and a rotor (R), but the drone arm (100) differs from other arms in that the motor (M) and the rotor (R) are respectively provided at the ends of both sides of the body.

[0038] Accordingly, the drone arm (100) cannot be installed by inserting one end portion into the main body of the drone (10) due to its structure, and therefore requires another component for connection to the main body of the drone (10).

[0039] The driving unit (110) used as one of the components for this connection is installed in a form that is fitted into the center of the drone arm (100) in a state in which the overall shape is configured in a form in which a number of connection terminals (111) are provided on one side of the cylindrical body as shown in FIG. 2.

[0040] That is, the driving unit (110) may be fitted into the drone arm (100) in a sliding manner, or may be firmly fitted into the drone arm (100) in a manner in which the body is divided into two and assembled into one.

[0041] At this time, the driving unit (110) must be installed in a form in which the distance from both ends of the drone arm (100) is formed equally so as not to cause imbalance of the drone (10) when it is fastened to the fastening unit (120) installed on the drone (10), and must be able to prevent change in the position of the drone arm (100) due to repeated vibration of the drone (10) in any form.

[0042] For example, through holes corresponding to each other can be formed in the bodies of the drone arm (100) and the driving unit (110), and by matching the through holes to each other and then fastening the nut after passing through with a bolt, the installation of the driving unit (110) in the correct position relative to the drone arm (100) can be facilitated, while at the same time, the change in the position of the drone arm (100) can be prevented.

[0043] In addition, the driving unit (110) must be configured to have a controller for controlling a motor (M) connected to a connection terminal (111) provided inside the body, through which a control signal transmitted from the control unit (130) can be received, and the motor (M) can be controlled according to the received control signal.

[0044] And, in the drone (10) to which the present invention is applied, a fastening member (120) used as another component for connection is installed in a form in which a plurality of sockets (121) corresponding to a plurality of connection terminals (111) and a pair of grippers (122) are provided in one direction as shown in FIG. 3a, thereby enabling electrical and physical connection with the driving member (110).

[0045] At this time, as illustrated in FIG. 1, the drone (10) may be configured in a form in which a pair of I-shaped frames spaced parallel to each other are provided at both ends of the rectangular body, and correspondingly, the fastening portion (120) may be configured in a form in which a pair of holders (123) corresponding to the pair of I-shaped frames are provided in the other direction, as illustrated in FIG. 3b.

[0046] That is, the above-mentioned fastening portion (120) can be fixedly installed one by one at each end of the drone (10) in a manner in which a holder (123) is fitted into a straight frame, and the driving portion (110) can be fixed with a plurality of sockets (121) and a pair of grippers (122) provided in the opposite direction of the holder (123), thereby simultaneously fixing the drone arm (100).

[0047] At this time, the gripper (122) may be configured as a clamp having a shape that can grip a portion of the outer periphery of a cylindrical driving part (110), thereby facilitating the attachment and detachment of the drone arm (100).

[0048] In addition, as shown in FIGS. 2 and 3A, a pair of protrusions (112, 113) of different sizes may be formed on the driving unit (110) to protrude in parallel in the same direction as the plurality of connecting terminals (111), and correspondingly, a pair of insertion grooves (124, 125) corresponding to each of the pair of protrusions (112, 113) may be formed on the fastening unit (120) to have different sizes.

[0049] Accordingly, when fixing the driving unit (110) to the fastening unit (120), a pair of protrusions (112, 113) must be inserted into a pair of insertion grooves (124, 125) with a size that matches the size of the insertion grooves, thereby creating an effect in which the driving unit (110) and the drone arm (100) can always be installed in the correct position without being upside down.

[0050]

[0051] In addition, the present invention is characterized in that it comprises a control unit (130) that generates a control signal for the motor (M) of the drone arm (100) and transmits it to the driving unit (110) where the recognition occurs when the driving unit (110) is recognized while connected to the socket (121) of the fastening unit (120).

[0052] That is, the control unit (130) generates and transmits a plurality of control signals to one driving unit (110) located on one side of the main body of the drone (10), and also generates and transmits a plurality of control signals to another driving unit (110) located on the other side, thereby enabling control of at least four motors (M) to occur simultaneously.

[0053] In addition, when a tilt device is provided on the drone arm (100), the control unit (130) can generate and transmit a control signal for a servo motor (150) for tilting provided in the tilt device as needed, thereby enabling flight control to be performed while the main body of the drone (10) is maintained horizontal.

[0054] That is, the drone arm (100) is configured to be a quadcopter by having a motor (M) and a rotor (R) provided at each of the ends on both sides as a basic configuration, but can also be configured to have a tilt device additionally provided at each of the ends on both sides.

[0055] In addition, the drone arm (100) is configured in a form in which a pair of motors (M) and a pair of rotors (R) are provided vertically at each of the ends on both sides so that the drone (10) can be an octocopter, but it can also be configured in a form in which a tilt device is additionally provided at each of the ends on both sides.

[0056] In summary, as illustrated in FIG. 4a, the drone arm (100) can be configured to be divided into a first form in which a motor (M) and a rotor (R) are provided at each of the ends of both sides, a second form in which a motor (M) and a rotor (R) and a tilt device are provided at each of the ends of both sides, a third form in which a pair of motors (M) and a pair of rotors (R) are provided vertically at each of the ends of both sides, and a fourth form in which a pair of motors (M), a pair of rotors (R) and a tilt device are provided at each of the ends of both sides, and any one of the forms can be selected and mounted at each of the ends of the drone (10).

[0057] In this way, since the configuration of the drone arm (100) is configured in various ways, the control unit (130) must be configured to clearly recognize the configuration of the drone arm (100) mounted on the drone (10) and perform customized control accordingly.

[0058] More specifically, as illustrated in FIG. 5a, the control unit (130) can clearly recognize the configuration of the drone arm (100) currently mounted on the drone (10) by checking the voltage level output in a state where the connection terminal (111) of the driving unit (110) and the socket (121) of the fastening unit (120) are connected to each other, and can be configured to generate and transmit a control signal accordingly.

[0059] That is, when the current output voltage level is in the range of 0 to 0.5 V while the connection terminal (111) of the driving unit (110) and the socket (121) of the fastening unit (120) are connected to each other, it can be recognized that the drone arm (100) of the first type among the above types is installed in the drone (10), and when the voltage level is in the range of 0.9 to 1.4 V, it can be recognized that the drone arm (100) of the second type is installed in the drone (10).

[0060] At this time, as a method for checking the voltage level output from the driving unit (110), a method for calculating the voltage level using several partial voltages measured by a voltage divider resistor or a method for checking the voltage level using a regulator can be used.

[0061] In addition, when the current output voltage level is in the range of 1.8 to 2.3 V, it can be recognized that the third type of drone arm (100) is installed in the drone (10), and when the voltage level is in the range of 2.7 to 3.2 V, it can be recognized that the fourth type of drone arm (100) is installed in the drone (10).

[0062] This is a configuration that takes into account the fact that the voltage level increases as the number of power supply targets increases, and since a motor (M) with a different output is required depending on the size of the drone (10) and drone arm (100), the reference range of the voltage level mentioned above can be configured differently.

[0063] In another way, as illustrated in FIG. 5b, the control unit (130) can clearly recognize the configuration of the drone arm (100) currently mounted on the drone (10) by checking the high and low signals output when the connection terminal (111) of the driving unit (110) and the socket (121) of the fastening unit (120) are connected to each other, and can be configured to generate and transmit a control signal accordingly.

[0064] That is, when the connection terminal (111) of the driving unit (110) and the socket (121) of the fastening unit (120) are connected to each other and the signal currently being output is a Low-Low signal, it can be recognized that the drone arm (100) of the first type among the above types is installed in the drone (10), and when the signal being output is a Low-High signal, it can be recognized that the drone arm (100) of the second type is installed in the drone (10).

[0065] At this time, in order to check the signal output from the driving unit (110), one of a CPU, a regulator, a pull-up resistor, or a pull-down resistor can be used.

[0066] In addition, if the signal currently being output is a High-Low signal, it can be recognized that a third type of drone arm (100) is installed in the drone (10), and if the signal currently being output is a High-High signal, it can be recognized that a fourth type of drone arm (100) is installed in the drone (10).

[0067] In this way, the control unit (130) can clearly recognize the configuration of the drone arm (100) currently mounted on the drone (10) through a voltage level or signal, and generate a control signal accordingly and transmit it to the driving unit (110), thereby enabling the flight of the drone (10) according to each configuration.

[0068]

[0069] Meanwhile, the tilt device constituting the second and fourth forms of the drone arm (100) comprises: a fixed frame (140) fixedly installed at the end of the drone arm (100) in a state in which it comprises a first frame (141) for installing a servo motor (150) and a second frame (142) for installing a shaft (170); a servo motor (150) fixedly installed in the internal space of the first frame (141) so that the axial direction of the rotational axis is the same as the longitudinal direction of the drone arm (100); a servo horn (160) installed to rotate in conjunction with the rotational axis of the servo motor (150); a shaft (170) that rotates in conjunction with the servo horn (160) and simultaneously rotates the tilt unit (180); and a tilt unit (180) that rotates in conjunction with the shaft (170) and tilts the motor (M) for rotating the rotor fixedly installed at the top at a predetermined angle. It can be configured in a form that includes .

[0070] First, as illustrated in FIG. 6, the fixed frame (140) is a structure that is fixedly installed at the end of each drone arm (100), and can be configured to include a first frame (141) for installing a servo motor (150) and a second frame (142) for installing a shaft (170).

[0071] That is, the fixed frame (140) can be directly fastened to the end of the drone arm (100) in an integrated state by combining the first frame (141) and the second frame (142), and the fastened state is maintained so that the motor (M) for rotor rotation and the rotor (R) can be tilted simultaneously.

[0072] More specifically, as illustrated in FIG. 7, the first frame (141) may be configured to include a 'ㄷ'-shaped base (141b) in which a pair of protrusions (141a) symmetrically formed from the ceiling and floor inside with open sides and the front side have a plurality of through holes so that a servo motor (150) can be fixedly installed, and a connector (141c) into which the end of the drone arm (100) is inserted, provided at the rear of the base (141b).

[0073] That is, the first frame (141) can be connected to the end of the drone arm (100) in a manner that it is fitted using a connector (141c) provided on the opposite side of the open surface, and in that state, it simultaneously supports the servo motor (150) fixedly installed inside and the second frame (142) connected to the outside.

[0074] At this time, the servo motor (150) is a device that provides power for realizing the tilt function, and is fixedly installed in the internal space of the first frame (141) and operates by a control signal generated by the drone's control unit (130) or transmitted to the drone from the outside to rotate the rotation axis at a certain angle.

[0075] That is, the servo motor (150) can be firmly fixed and installed inside the base (141b) by means of a bolt fastening method for a pair of protrusions (141a), and a customized fastening structure for this purpose must be provided on the upper and lower sides of the outer case.

[0076] In addition, the servo motor (150) is characterized by being configured in a form in which the position of the rotation axis is biased toward the upper side of the outer case, and is fixedly installed on the first frame (141) in a form in which the axial direction of the rotation axis is the same as the longitudinal direction of the drone arm (100), thereby enabling power transmission to occur along the longitudinal direction.

[0077] And, a servo horn (160) is installed to rotate in conjunction with the rotation axis of the above servo motor (150), thereby enabling power transmission to the shaft (170) for realizing the tilt function.

[0078] That is, the above servo horn (160) is a component that transmits power for realizing the tilt function, and is installed to rotate in conjunction with the rotation axis of the servo motor (150) while having a customized fastening structure on both sides, thereby allowing rotation of the shaft (170) to occur during actual operation.

[0079] At this time, the servo horn (160) may be configured in the shape of a circular plate in which a fastening structure corresponding to the rotational axis of the servo motor (150) is formed at the center of one side and a number of through holes are formed along the periphery of the other side, and may be coupled to the shaft (170) by a bolt fastening method using the number of through holes.

[0080] In addition, the shaft (170) is also a component that transmits power for realizing the tilt function, and is installed to rotate in conjunction with the servo horn (160), thereby enabling rotation of the tilt unit (180) during actual operation.

[0081] At this time, the shaft (170) may be configured in a form in which most of the body is configured in the shape of a cylinder, but includes a disc-shaped one-side end portion in which a number of through holes are formed along the circumference, and may be coupled to the servo horn (160) using a bolt fastening method using this structure.

[0082] That is, the shaft (170) can be firmly connected to the servo horn (160) by fastening bolts while aligning the through holes of the servo horn (160) with the through holes formed in the end portion of one side formed in a disc shape, and by rotating in conjunction with each other, the tilt unit (180) can be rotated simultaneously.

[0083] In addition, as illustrated in FIG. 7, the second frame (142) is characterized by being configured in a shape that includes a reverse 'ㄷ' shaped fastening member (142b) that is coupled to the front side of the base (141b) in a bolt-fastening manner with both sides and the rear side open, and a first through-hole (142a) that supports a part of the tilt part (180) and through which the shaft (170) passes on one side of the front side while supporting a part of the tilt part (180), and an 'ㄴ' shaped fixing member (142d) that protrudes forward of the fastening member (142b) and has a second through-hole (142c) that supports another part of the tilt part (180) and through which the shaft (170) passes on one side of the front side.

[0084] That is, the second frame (142) can be joined to the first frame (141) using a bolt fastening method so that the open rear surface of the fastening member (142b) faces the open front surface of the base (141b) while supporting the shaft (170).

[0085] Accordingly, a plurality of through holes must be formed at corresponding positions in the base (141b) of the first frame (141) and the fastening member (142b) of the second frame (142), and the two can be firmly connected to each other by inserting bolts into the plurality of through holes.

[0086] At this time, when the first frame (141) and the second frame (142) are mutually connected, the tilt part (180) must be positioned between the first through hole (142a) and the second through hole (142c) into which the bearing (B) is inserted, and the shaft (170) must pass through the first through hole (142a), the second through hole (142c), and the tilt part (180) simultaneously.

[0087] In this way, the shaft (170) and the tilt part (180) can be installed simultaneously in the second frame (142), and can rotate simultaneously to tilt the motor (M) for rotating the rotor and the rotor (R) located above simultaneously.

[0088] Meanwhile, the tilt part (180) is a component that realizes a tilt function, and rotates in conjunction with the shaft (170) while the lower part is installed in a combined manner, and tilts the motor (M) for rotating the rotor fixedly installed at the upper part at a certain angle.

[0089] More specifically, the tilt part (180) is characterized in that it is configured in such a way that a pair of female parts (181) having a shaft (170) hole formed therein through which a shaft (170) passes are formed in a symmetrical shape at the lower part, and a support part (182) that connects the pair of female parts (181) in a spaced-apart state and extends upward to support a motor (M) for rotor rotation at the upper part.

[0090] In addition, a number of through holes for coupling with a sharp are formed in the above pair of female parts (181) in a form that communicates with the internal shaft (170) holes, and a number of through holes corresponding to the through holes of the female parts (181) are also formed in the shaft (170) so that they can be mutually coupled in a bolt fastening manner.

[0091] Accordingly, the tilt part (180) can be positioned between the fastening member (142b) and the fixing member (142d) of the second frame (142) in a form in which the shaft (170) simultaneously penetrates the shaft (170) hole formed inside each of the pair of arm parts (181).

[0092] And, a motor (M) for rotor rotation can be installed on the top of the support member (182), and by rotating in conjunction with the shaft (170), the motor (M) for rotor rotation and the rotor (R) can be tilted simultaneously.

[0093] At this time, a pair of covers (C) corresponding to the shape of the fixed frame (140) are installed in a form that covers the open sides of the first frame (141) and the second frame (142), thereby protecting components such as the servo motor (150) installed therein.

[0094]

[0095] The embodiments introduced above are provided as examples so that the technical idea of ​​the present invention can be sufficiently conveyed to a person having ordinary skill in the art to which the present invention pertains, and the present invention is not limited to the embodiments described above and may be embodied in other forms.

[0096] In order to clearly explain the present invention, parts that are not related to the explanation are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of components may be expressed in an exaggerated or reduced form for convenience.

[0097] Additionally, identical reference numbers throughout the specification represent identical components.

[0098]

[0099] The drive unit modular drone platform according to the present invention is

[0100] It has sufficient potential for industrial use because it can significantly reduce the cost of acquiring and managing various types of drones and improve the convenience of management during the process of storing and transporting drones.

Claims

1. A plurality of straight drone arms (100) equipped with motors (M) and rotors (R) at both ends; A driving unit (110) configured in a form having a plurality of connection terminals (111) on one side of a cylindrical body and installed in a form fitted into the center of the drone arm (100) to receive a control signal through the connection terminal (111) and control the motor (M); A fastening member (120) installed in a form corresponding to the structure of both ends of the drone (10) in a state in which a plurality of sockets (121) corresponding to the plurality of connecting terminals (111) and a pair of grippers (122) that secure the driving member (110) in a form that is gripped are provided in one direction; and, A modularized drone platform characterized by comprising a control unit (130) that generates and transmits a control signal for a motor (M) of a drone arm (100) when recognition of the driving unit (110) occurs while connected to the socket (121).

2. In paragraph 1, The above drone (10) is, It is characterized by being configured in a form in which a pair of straight frames are provided spaced parallel to each other at both ends of a rectangular body. The above fastening part (120) is A modularized drive unit drone platform characterized in that a pair of holders (123) corresponding to the pair of I-shaped frames are provided in the opposite direction.

3. In paragraph 1, In the above driving unit (110), A pair of protrusions (112, 113) of different sizes are formed to protrude a plurality of connecting terminals (111), In the above fastening part (120), A modularized drive unit drone platform characterized in that a pair of insertion grooves (124, 125) corresponding to each of the above pair of protrusions (112, 113) are formed with different sizes.

4. In paragraph 1, The above drone arm (100) is A drone platform with a modular drive unit, characterized in that it is configured to be divided into a first type in which one motor (M) and one rotor (R) are provided at each of the ends of both sides, a second type in which one motor (M) and one rotor (R) and one tilt device are provided at each of the ends of both sides, a third type in which one pair of motors (M) and one pair of rotors (R) are provided vertically at each of the ends of both sides, and a fourth type in which one pair of motors (M), one pair of rotors (R) and one tilt device are provided at each of the ends of both sides, and one of them is selectively mounted at each of the ends of the drone (10).

5. In paragraph 4, The above control unit (130) A modularized drive unit drone platform characterized in that it is configured to recognize the configuration of a drone arm (100) mounted on a drone (10) by checking the voltage level output while the connection terminal (111) of the drive unit (110) and the socket (121) of the connection unit (120) are connected to each other, and then generate and transmit a control signal accordingly.

6. In paragraph 4, The above control unit (130) A modularized drive unit drone platform characterized in that it is configured to recognize the configuration of a drone arm (100) mounted on a drone (10) by checking a signal output while the connection terminal (111) of the drive unit (110) and the socket (121) of the fastening unit (120) are connected to each other, and then generate and transmit a control signal accordingly.

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